Robust path following of underactuated ships using Serret-Frenet frame

Proceedings of the American Control Conference

Volumn 3, Issue , 2003, Pages 2000-2005

  Do, K D ^a   Pan, J ^a  

^a UNIVERSITY OF WESTERN AUSTRALIA   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; CONTROL SYSTEMS; LYAPUNOV METHODS; OCEAN CURRENTS; PROBLEM SOLVING; SHIPS; TRAJECTORIES; WIND EFFECTS;

WIND DISTURBANCES;

TRACKING (POSITION);

EID: 0142215880     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (21)

1. Jiang Z.P. and H. Nijmeijer, A recursive technique for tracking control of nonholonomic systems in chained form, IEEE Transactions on Automatic Control, vol. 44, 1999, pp. 265-279.
2. Pettersen K.Y. and H. Nijmeijer. Underactuated ship tracking control: theory and experiments. International Journal of Control, vol. 74, no 14,2001, pp. 1435-1446.
3. th IEEE Conference on Decision and Control, pp. 2150-2155, 2000.
4. Olfati-Saber R. Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles, PhD. thesis, Massachusetts Institute of Technology, 2001.
5. Lefeber E. Tracking control of nonlinear mechanical systems. PhD thesis, University of Twente, 2000.
6. Jiang Z.P. Global tracking control of underactuated ships by Lyapunov's direct method. Automatica, vol. 38, no. 2. 2002, pp. 301-309.
7. Do K.D., Z.P. Jiang and J.Pan. Underactuated ship global tracking under relaxed conditions. To appear in IEEE Transactions on Automatic Control, 2001.
8. th Conference on Decision and Control, 1999, pp. 2192-2197
9. Toussaint G.J., T. Basar and F. Bullo. Tracking for nonlinear underactuated surface vessels with generalized forces. Proceedings of the 2000 IEEE International Conference on Control Applications, 2000b, pp. 355-360.
10. Kaminer I., A. Pascoal, E. Hallberg and C. Silvestre. Trajectory tracking for autonomous vehicles: An integrated approach to guidance and control. Journal of Guidance, Control, and Dynamic Systems, 1998, pp. 29-38.
11. Wahl A. and E.D. Gilles. Model predictive versus linear quadratic control for the tracking problem of automatic river navigation. Proceedings of ECC'99, European Control Conference, 1999.
12. th IFAC Conference on Manoeuvring and Control of Marine Craft, 2000, pp. 117-122.
13. Fossen T.I, Guidance and control of ocean vehicles, Chichester: John Wiley & Son, 1994.
14. rd ed., Prentice-Hall, NJ, 2002.
15. Krstic M., I. Kanellakopoulos, and P.V. Kokotovic. Nonlinear and adaptive control design. New York: Wiley, 1995.
16. Pomet J.B, and L. Praly, Adaptive nonlinear regulation: Estimation from the Lyapunov equation. IEEE Transaction on Automatic Control, vol. 37, 1992, pp. 729-740.
17. Samson C. Control of chained systems application to path following and time-varying point-stabilization of mobile robots. IEEE Transaction on Automatic Control, 1995, pp. 64-77.
18. Skjetne R. and T.I. Possen. Nonlinear maneuvering and control of ships. Proceedings of OCEANS 2001 MTS/IEEE Conference and Exhibition, 2001, pp. 1808-1815.
19. Egerstedt M. and X. Hu. A hybrid control approach to action coordination for mobile robots. Automatica, 2002, pp. 125-130.
20. Operea J. Differential geometry and its applications. Prentice Hall, NJ, 1997.
21. th IFAC World Congress, 2002.